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Realsense Color Image Pointcloud Synchronization

asked 2020-02-15 06:05:53 -0500

ytosclee gravatar image

Hi, I use color image to filter out a moving object and I use PointCloud to determine it XYZ. However, I notice that if the object is moving fast, the XYZ position is not accurate. I would like to know how to synchronize the color image with the PointCloud. I am current setting my D435 in 60fps for both color and depth channel.

I tried to use depth image before, the problem with depth image is that I can only get the depth not the position in the other 2 axis.

I know there is a time synchronizer in ROS but I don’t know the latency of generating the PointCloud.

Thanks a lot for any help!

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answered 2020-02-15 21:28:31 -0500

atas gravatar image

updated 2020-02-15 21:29:06 -0500

The point clouds and rgb images being streamed are already synced. I think your problem lies in the object detection part in image, what method are you using to detect ? And what is the FPS of your algorithm for detetction? , if the object moves fast, the raw data corresponding to your object will move while your detection algorithm is still trying to locate the object, which has already changed its position, therefore you see a lag. I can’t see how a synchronization will help at this point, the best advice would be to debug/optimize the detection part but as we don’t know what is involved there can’t say much

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Thanks for the answer! I will try to get the point clouds and the rgb image at the same time, run the algorithm and check to see if it helps.

ytosclee gravatar image ytosclee  ( 2020-02-16 23:34:52 -0500 )edit

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Asked: 2020-02-15 06:05:53 -0500

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Last updated: Feb 15